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Copter: fixup fence pre-arm checks

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- require GPS if polygon fence is enabled
- fence pre-arm failure shows failure message
- tell user fence is enabled which is why GPS is required
This commit is contained in:
Randy Mackay 2017-03-24 11:03:15 +09:00
parent c1a25c25f7
commit bff9189afc
1 changed files with 20 additions and 13 deletions
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33
ArduCopter/AP_Arming.cpp
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@ -159,9 +159,10 @@ bool AP_Arming_Copter::fence_checks(bool display_failure)
{
#if AC_FENCE == ENABLED
// check fence is initialised
if (!copter.fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check fence");
const char *fail_msg = nullptr;
if (!copter.fence.pre_arm_check(fail_msg)) {
if (display_failure && fail_msg != nullptr) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", fail_msg);
}
return false;
}
@ -406,17 +407,17 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
}
// check if flight mode requires GPS
bool gps_required = copter.mode_requires_GPS(copter.control_mode);
bool mode_requires_gps = copter.mode_requires_GPS(copter.control_mode);
// check if fence requires GPS
bool fence_requires_gps = false;
#if AC_FENCE == ENABLED
// if circular fence is enabled we need GPS
if ((copter.fence.get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) != 0) {
gps_required = true;
}
// if circular or polygon fence is enabled we need GPS
fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
#endif
// return true if GPS is not required
if (!gps_required) {
if (!mode_requires_gps && !fence_requires_gps) {
AP_Notify::flags.pre_arm_gps_check = true;
return true;
}
@ -428,7 +429,12 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
if (reason) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
} else {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix");
if (!mode_requires_gps && fence_requires_gps) {
// clarify to user why they need GPS in non-GPS flight mode
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Fence enabled, need 3D Fix");
} else {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix");
}
}
}
AP_Notify::flags.pre_arm_gps_check = false;
@ -696,9 +702,10 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
#if AC_FENCE == ENABLED
// check vehicle is within fence
if (!copter.fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: check fence");
const char *fail_msg = nullptr;
if (!copter.fence.pre_arm_check(fail_msg)) {
if (display_failure && fail_msg != nullptr) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Arm: %s", fail_msg);
}
return false;
}